Foreign material interference detection apparatus for open/closing members

ABSTRACT

A foreign material interference detection apparatus for an opening/closing member that reduces the calculation load for foreign material interference determination processing. A rotating speed detection sensor detects the rotating speed of a motor and provides its detection signal SP to a computer. The computer obtains a load determination rotating cycle t 1  from the detection signal SP. Based on the load determination rotating cycle t 1 , the computer determines foreign material interference when it determines that the rotating speed is fluctuating due to a load that is the same as that produced when a foreign material is interfering with the opening/closing member and when the determination is made consecutively a predetermined number of times.

BACKGROUND OF THE INVENTION

The present invention relates to a foreign material interferencedetection apparatus for opening/closing members, and more particularly,to a foreign material interference detection apparatus foropening/closing members, such as a sliding roof, a power window, and asliding door.

In the prior art, an automobile sunroof apparatus having a foreignmaterial interference prevention apparatus, similar to that of a powerwindow, has been proposed to detect foreign material interference when asliding glass roof is being completely closed, to stop immediately theclosing action, and move the glass in the opposite, or openingdirection.

Generally, the rotating cycle (rotating speed) of a sliding motor forsliding the sliding glass roof is detected, and when the rotating cyclebecomes long (when the rotating speed decreases gradually), foreignmaterial interference is detected.

However, when completely closing the sliding glass roof while drivingalong a rough road, the vibrations applied to the automobile fluctuatethe load applied to the sliding motor, which changes the rotating cycle(rotating speed) of the motor. The change in the rotating cycle(rotating speed) results in erroneous detection of foreign materialinterference.

Accordingly, a method using a digital filter, such as an FIR filter oran IIR filter, has been proposed to eliminate load fluctuations causedby external disturbances, such as vibrations. However, the load appliedto the CPU with respect to the computations, such as sum/productcalculations, is high. Thus, a CPU having higher speed is necessary.This increases the cost of the foreign material interference preventionapparatus. Further, load fluctuations caused by vibrations cannot becompletely eliminated by the digital filter.

It is a first object of the present invention to provide a foreignmaterial interference prevention apparatus that reduces the computationload for determining external disturbance.

It is a second object of the present invention to provide a foreignmaterial interference prevention apparatus that accurately determinesforeign material interference by completely eliminating loadfluctuations, such as vibrations, while reducing the computation loadfor detecting interference.

SUMMARY

A first aspect according to the present invention provides a foreignmaterial interference detection apparatus for an opening/closing member.A drive source opens and closes the opening/closing member. A speeddetection means detects the opening and closing speed of theopening/closing member and generates a detection signal. A data rowdividing processing means obtains the opening and closing speed of theopening/closing member from the detection signal and divides the datainto a plurality of groups. A speed fluctuation calculation meanscalculates fluctuations in the opening and closing speed based on thedata of each of the divided groups. An external disturbancedetermination means compares the calculation result of the speedfluctuation calculation means and a predetermined value to determine anexternal disturbance. An interference determination means determineswhether or not foreign material is interfering with the opening/closingmember based on the calculation result of the speed fluctuationcalculation means and the determination result of the externaldisturbance determination means.

A second aspect of the present invention provides a foreign materialinterference detection apparatus for an opening/closing member. A drivemotor opens and closes an opening/closing member. A speed detectingmeans detects a rotating speed of the drive motor and generates adetection signal. A rotating cycle calculation processing meanscalculates a rotating cycle as load determination rotating cycles usingthe detection signal from the speed detecting means. A calculationprocessing means determines whether the rotating speed is fluctuatingdue to a load the same as that produced by foreign material interferencebased on the fluctuated value of the load determination rotating cyclesobtained by the rotating cycle calculation processing means and countsthe consecutive number of times in which the rotating speed isdetermined to have fluctuated by a load that is the same as thatproduced by foreign material interference. An interference determinationprocessing means determines that there is foreign material interferenceif the calculation processing means determines that the applied load isthe same as that produced when foreign material is interfering with theopening/closing member and the determination is made consecutively for apredetermined number of times.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic block diagram of a sunroof apparatus according toa first embodiment of the present invention.

FIG. 2 is a timing chart of the waveform of a detection signal generatedby a waveform shaping circuit of the sunroof apparatus of FIG. 1.

FIG. 3 is a partial perspective view of an automobile having a sunroofapparatus.

FIG. 4 is a flowchart illustrating the operation of the sunroofapparatus of FIG. 1.

BEST MODE FOR CARRYING OUT THE INVENTION

An embodiment of an automobile sunroof apparatus according to thepresent invention will now be described with reference to the drawings.

FIG. 3 is a perspective view showing an automobile having a sunroofapparatus. The automobile 1 has a roof panel 2 which forms a window 3. Asliding glass roof (hereafter referred to as glass roof) 4 serving as anopening/closing member is arranged in the window 3 and moved back andforth in the forward and rearward directions. The window 3 is opened bymoving the glass roof 4 rearward (disengaging movement), and closed bymoving the glass roof 4 forward (engaging movement).

The glass roof 4 is moved back and forth (opening/closing operation) bythe forward and reverse rotating actions of a sliding roof motor(hereafter referred to as motor) 6, which is a DC motor serving as adrive motor (drive source) and shown by the broken lines in FIG. 3. Theforward rotating action of the motor 6 moves the glass roof 4 by meansof a drive transmission mechanism (not shown) in the direction thatopens the window 3 (disengaging movement). On the other hand, thereverse rotating action of the motor 6 moves the glass roof 4 by meansof the drive transmission mechanism in the direction that closes thewindow 3 (engaging movement). The rotating speed NS of the motor 6 is inrelative relationship with the moving speed (i.e., opening/closingspeed) of the glass roof 4. The motor 6 is fixed between the roof panel2 and a molded roof panel (not shown) in front of the window 3.

FIG. 1 is a schematic block diagram of the sunroof apparatus. The motor6 has a first terminal connected to a first relay switch 11 and a secondterminal connected to a second relay switch 12. The first relay switch11 has a plus contact 11 b connected to a plus terminal of a battery Bof the automobile 1, a minus contact 11 c connected to a minus terminalof the battery B, and a movable contact 11 aconnected to the firstterminal of the motor 6. In this embodiment, the movable contact 11 a isconnected to the plus contact 11 b when a first relay coil 13 is excitedand connected to the minus contact 11 c when the first relay coil 13 isde-excited.

The second relay switch 12 has a plus contact 12 b connected to a plusterminal of the battery B, a minus contact 12 c connected to a minusterminal of the battery B, and a movable contact 12 a connected to thesecond terminal of the motor 6. In this embodiment, the movable contact12 a is connected to the plus contact 12 b when a second relay coil 14is excited and connected to the minus contact 12 c when the second relaycoil 14 is de-excited.

Accordingly, when the first relay coil 13 is excited and the secondrelay coil 14 is de-excited, the movable contact 11 a of the first relayswitch 11 is connected to the plus contact 11 b, and the movable contact12 a of the second relay switch 12 is connected to the minus contact 12c. As a result, current flows from the plus terminal of the battery Bthrough the first relay switch 11, the motor 6, the second relay switch12, and to the minus terminal of the battery B. This produces theforward rotating action of the motor 6 and moves the glass roof 4 in theopening direction.

On the other hand, when the first relay coil 13 is de-excited and thesecond relay coil 14 is excited, the movable contact 11 a of the firstrelay switch 11 is connected to the minus contact 11 c, and the movablecontact 12 a of the second relay switch 12 is connected to the pluscontact 12 b. As a result, current flows from the plus terminal of thebattery B through the second relay switch 12, the motor 6, the firstrelay switch 11, and to the minus terminal of the battery B. Thisproduces the reverse rotating action of the motor 6 and moves the glassroof 4 in the closing direction.

When the first and second relay coils 13, 14 are both de-excited, themovable contacts 11 a, 12 a of the first and second relay switches 11,12 are connected to the minus contacts 11 c, 12 c, respectively. As aresult, the DC voltage VB of the battery B is not applied to the motor6. Thus, the motor 6 does not produce rotating actions.

A computer or microcomputer 21 includes a central processing unit (CPU)for performing various calculations based on control programs, a readonly memory (ROM) for storing the control programs and various data, areadable and rewritable memory (RAM) for temporarily storing variousdata such as the processed calculation results of the CPU, and aninput/output interface (I/O). The computer 21 further includes aconstant voltage power supply circuit, an AD converter, and internalcircuits, such as a drive circuit, for exciting the first and secondrelay coils 13, 14.

The computer 21 is connected to the battery B and is supplied with theDC voltage VB from the battery B for operational power. The constantvoltage power supply circuit converts the DC voltage VB of the battery Bto a predetermined voltage in order to generate the operational power ofthe internal circuits in the computer 21, such as the CPU, the ROM, theRAM, and the I/O.

The computer 21 is provided with an operation signal from a slide switch22. The slide switch 22 is located on the molded roof panel above therear view mirror in the passenger compartment. The slide switch 22includes an opening operation portion and a closing operation portion.When the opening operation portion is operated, the slide switch 22provides an open signal to the computer 21. When the closing operationportion is operated, the slide switch 22 provides a close signal to thecomputer 21.

In response to the open signal from the slide switch 22, the computer 21excites the first relay coil 13 and de-excites the second relay coil 14in accordance with the control program to produce the forward rotatingaction of the motor 6. In response to the close signal from the slideswitch 22, the computer 21 excites the second relay coil 14 andde-excites the first relay coil 13 in accordance with the controlprogram to produce the reverse rotating action of the motor 6. Further,when neither the open signal nor the close signal are being input, thecomputer 21 de-excites the first and second relay coils 13, 14, whichstops the rotating action of the motor 6.

When determining that interference by a foreign material has occurredduring the reverse rotating action of the motor 6, the computer 21switches the excited and de-excited states of the first and second relaycoils 13, 14 so that the motor 6 produces a forward rotating action.

The computer 21 receives a detection signal from a rotating speeddetection sensor 23, which detects the rotating speed NS of the motor 6,via a waveform shaping circuit 24. The rotating speed detection sensor23 is fixed to a rotary shaft of the motor 6 and includes a disk-likemagnet, which rotates integrally with the rotary shaft, and a Hallelement, which is arranged to face the magnet (neither shown). An N-polesurface ranging 180 degrees and an S-pole surface ranging 180 degrees isdefined on the surface of the disk-like magnet with the boundarytherebetween extending along a line segment that is perpendicular to therotary shaft axis. The length of the N-pole surface is the same as thelength of the S-pole surface. The lengths of the N and S-pole surfacesrefer to a one half rotation of the rotary shaft. Accordingly, when themagnet is rotated integrally with the rotary shaft, the N-pole andS-pole surfaces alternately pass by the Hall element every halfrotation. In this embodiment, the detection signal output by therotating speed detection sensor 23 has a high potential (high level)when the Hall element passes by the N-pole surface and a low potential(low level) when the Hall element passes by the S-pole surface.

The waveform shaping circuit 24 receives the detection signal from therotating speed detection sensor 23, shapes the waveform of the detectionsignal, and provides a pulse waveform detection signal SP, which hassharp rising and falling edges as shown in FIG. 2, to the computer 21.The rotating speed detection sensor 23 and the waveform shaping circuit24 form a speed detection means.

When the glass roof 4 is being closed, a foreign material may interferewith the closing of the glass roof 4 and apply a load to the motor 6,the DC voltage VB provided to the motor 6 may drop, or vibrationsproduced when driving along rough roads may apply a load to the motor 6.In such cases, the rotating speed NS of the motor 6 decreases. Adecrease in the rotating speed NS lengthens a rotating cycle t1 of thedetection signal SP.

The computer 21 serves as an interference determination processing meansand performs interference detection processing based on a correctionvoltage VBF and the detection signal SP. That is, the computer 21performs interference detection processing in accordance with thecontrol program during the reverse rotating action of the motor 6 (whenthe glass roof 4 is being moved in the closing direction). Theinterference detection processing includes rotating cycle calculationprocessing, external disturbance determination processing, andinterference determination processing.

Rotating Cycle Calculation

The detection signal SP from the waveform shaping circuit 24 isrepetitively calculated and the calculation result is stored in the RAM.More specifically, with reference to FIG. 2, whenever the detectionsignal SP falls to a low level from a high level, the computer 21calculates the time t1 between the preceding falling edge and thecurrent falling edge of the detection signal SP (actual rotating cyclest1, t3, t5, . . . ). Further, whenever the detection signal SP rises toa high level from a low level, the computer 21 calculates the time t2between the preceding rising edge and the current rising edge of thedetection signal SP (actual rotating cycles t2, t4, t6, . . . ). Thecomputed actual rotating cycles are stored in the RAM of the computer 21from the newest one as load determination rotating cycles t1, t3, . . ., t2, t4, . . . .

Referring to FIG. 2, in this embodiment, nine load determinationrotating cycles t1, t3, t5, . . . , t15, t17 are stored in the RAM whenthe detection signal SP falls. Nine load determination rotating cyclest2, t4, t6, . . . , t16, t18 are stored in the RAM when the detectionsignal SP rises. When the detection signal SP next falls, among theeighteen load determination rotating cycles t1-t18, the oldest loaddetermination rotating cycle 18 is updated with the newly calculatedload determination rotating cycle. Accordingly, eighteen loaddetermination rotating cycles t1, t3, t17, t2, t4, . . . , t18 arestored in the RAM and updated at each rising edge and falling edge. Thecomputer 21 performs external disturbance determination processing usingthe eighteen load determination rotational cycles t1, t2-t18 stored inthe RAM. The determination processing is performed whenever the loaddetermination rotating cycle t1-t18 is updated.

External Disturbance Determination Processing

The actual changes in the rotating speed NS relative to the fluctuationsof the DC voltage VB are eliminated from the eighteen load determinationrotating cycles t1-t18 stored in the RAM. However, the changes in therotating speed NS relative to the fluctuations of the load applied tothe motor 6 are included in the eighteen load determination rotatingcycles t1-t18. The load applied to the motor 6 includes the loadproduced when a foreign material interferes with the closing of theglass roof 4, the load produced by external disturbances such asvibrations generated when driving along rough roads, and the loadproduced by external disturbances other than vibrations. Externaldisturbance determination processing is performed by determining theload applied to the motor 6 using the eighteen load determinationrotating cycles t1-t18.

The external disturbance determination processing includes low rangedifferential calculation processing and interference bias determinationprocessing.

1. Low Range Differential Calculation Processing

The low range differential calculation processing includes data rowdividing processing and speed fluctuation calculation processing. Thecomputer 21 divides the eighteen load determination rotating cycles intothree data rows of groups A, B, and C. The first group A is formed bythe four rising edge load determination rotating cycles t1, t3, t5, t7and the four falling edge load determination rotating cycles t2, t4, t6,t8. The second group B is formed by the four rising edge loaddetermination rotating cycles t7, t9, t11, t13 and the four falling edgeload determination rotating cycles t6, t8, t10, t12. The third group Cis formed by the four rising edge load determination rotating cyclest11, t13, t15, t17 and the four falling edge load determination rotatingcycles t12, t14, t16, t18.

Then, the computer 21 calculates a low range differential value TAF asthe fluctuation value of the first group A from the eight loaddetermination rotating cycles t1-t8 using the following equation.

TAF=(t1+t2+t3+t4)−(t5+t6+t7+t8)

In the same manner, the computer 21 calculates low range differentialvalues TBF, TCF as the fluctuation values of the second and third groupsB, C from the eight load determination rotating cycles t8-t13 of thesecond group C and the eight load determination rotating cycles t11-t18of the third group C using the following equations, respectively.

TBF=(t6+t7+t8+t9)−(t10+t11+t12+t13)

TCF=(t11+t12+t13+t14)−(t15+t16+t17+t18)

The low range differential values TAF, TBF, TCF are the deviations ofthe load determination rotation cycle for each rotation. The low rangedifferential value TAF of the first group A is the deviation of the mostrecent load determination rotating cycle, and the low range differentialvalue TBF of the second group B is the deviation of the next most recentload determination rotating cycle. The low range differential value TCFof the third group C is the deviation of the load determination rotatingcycle that is next most recent to the second group B. Accordingly, thelow range differential values TAF, TBF, TCF having positive valuesindicate a decrease in the rotating speed NS due to a load during thecorresponding period of time.

The computer 21 then performs sum calculation processing to obtain sumvalues TAS, TCS of the first and third groups A, C used during rotatingspeed fluctuation calculation processing, which will be described later.The sum values TAS, TCS are obtained from the eight load determinationrotating cycles of the first and third groups A, C using the followingequations.

TAS=(t1+t2+t3+t4)+(t5+t6+t7+t8)

TCS=(t11+t12+t13+t14)+(t15+t16+t17+t18)

After obtaining the low range differential values TAF, TBF, TCF and thesum values TAS, TCS, the computer 21 finishes calculating the low rangedifferential and proceeds to interference bias determination processing.

2. Interference Bias Determination Processing

The computer 21 performs interference bias determination processing inaccordance with the flowchart of FIG. 4.

The interference bias determination processing includes externaldisturbance determination processing, which determines whether the lowrange differential values TAF, TBF, TCF are greater than theircorresponding threshold values TM1, TM2, TM3 (steps 1-3). In otherwords, it is determined whether the conditions of TAF>TM1, TBF>TM2, andTCF>TM3 are satisfied.

The threshold values TM1, TM2, TM3 are values that are obtainedbeforehand through tests, such as experiments. The threshold values TM1,TM2, TM3 are the low range differential values TAF, TBF, TCF obtainedwhen the rotating speed NS is decreased due to a load that is greaterthan a load generated by external disturbances (i.e., an initial loadproduced when a foreign material interferes with the glass roof 4).Accordingly, the low range differential values TAF, TBF, TCF obtainedwhen an external disturbance or the like produces a load are equal to orlower than the threshold values TM1, TM2, TM3. The threshold values TM1,TM2, TM3 are stored in the ROM of the computer 21. Accordingly, when thelow range differential values TAF, TBF, TCF are greater than thethreshold values TM1, TM2, TM3, this indicates that a load has beenapplied to the glass roof 4, or the motor 6, due to some reason in therespective groups A-C.

When it is determined that the conditions of steps 1-3 are satisfied andthe load applied to the motor 6 has increased during the time periodcorresponding to each of the groups A-C, the computer 21 compares thelow range differential value TAF of the first group A with the low rangedifferential value TCF of the third group C to determine whether theload is increasing (step 4). When the low range differential value TAFis greater than the low range differential value TCF (i.e., TAF>TCF), itis determined that the glass roof 4, which is moving in the closingdirection, is likely being interfered with by a foreign material. Thatis, if the low range differential value TCF of the older, third group Cis greater than the low range differential value TAF of the newer, firstgroup A, this indicates that a foreign material has begun to interferewith the glass roof 4 and the load is likely to gradually increase.

When it is determined that the glass roof 4 is likely being interferedwith by a foreign material, the computer 21 proceeds to the rotatingspeed fluctuation calculation processing. If the conditions of TAF>TM1,TBF>TM2, TCF>TM3, and TAF>TCF are not satisfied, it is determined thatthere is no likelihood of foreign material interference. The computer 21thus proceeds to the rotating speed fluctuation calculation processing.

Rotating Speed Fluctuation Calculation Processing

When it is determined in the interference bias determination processthat the glass roof 4 is likely being interfered with by a foreignmaterial, the computer 21 uses the sum values TAS, TCS of the respectivefirst and third groups A, C to obtain a new low range differential valueTF using the following equation (step 5).

TF=TAS−TCS =(t1+t2+t3+t4+t5+t6+t7+t8) −(t11+t12+t13+t14+t15+t16+t17+t18)

The low range differential value TF is a cycle fluctuation amountrelated to the fluctuation of the rotating speed NS, which is obtainedby comparing the rotating speed NS of the third group C that is prior tothe second group B with the newest rotating speed NS of the first groupA. Accordingly, when the low range differential value TF is positive(TF>0), the rotating speed NS is definitely decreasing. If it isdetermined that the rotating speed N has fluctuated due to externaldisturbance in steps 1 to 5, the computer 21 sets TF at zero withoutcomputing the low range differential value TF (step 6).

At step 7, the computer 21 determines whether the low range differentialvalue TF is positive (TF>0) and, if it is positive, proceeds to step 8to add “1” to a count value NC of a determination counter, which isincorporated in the CPU. Accordingly, if the low range differentialvalue TF is positive (TF>0), the counter value NC is increased in anincremental manner whenever the low range differential value TF isobtained. Accordingly, as the count value NC increases, it becomesapparent that the rotating speed NC is definitely being decreased (i.e.,the load applied to the motor 6 being increased).

If the low range differential value TF is “0” or negative (TF<0), thecomputer 21 proceeds to step 9 and resets the count value NC to “0”. Inthis case, it is apparent that a state in which the rotating speed NS isdecreasing (i.e., the load applied to the motor 6 being increased) nolonger exists.

The computer 21 then proceeds to step 10 and compares the low rangedifferential value TF with a predetermined reference value TJ prestoredin the ROM. The reference value TJ is a value previously obtained fromthe torque/rotating speed characteristic of the motor 6. In other words,the reference value TJ is a low range differential value TJ obtainedwhen the rotating speed NS decreases due to a foreign materialinterfering with the glass roof 4. Accordingly, if the low rangedifferential value TF is greater than the reference value TJ, it isdetermined that the load applied to the motor 6 is substantially thesame as when a foreign material interferes with the glass roof 4.

When the condition of step 10 is satisfied, the computer 21 determinesthat the load applied to the motor 6 is substantially the same as thatwhen a foreign material is interfering with the glass roof 4 andproceeds to the interference determination processing of step 11.

Interference Determination Processing

During interference determination processing in step 11, the computer 21compares the count value NC of the determination counter with apredetermined determination value NK prestored in the ROM. Thedetermination value NK is obtained beforehand through tests, such asexperiments. That is, the determination value NK is the count value NCat which an increase in the counter value NC due to a decrease in therotating speed NS and an increase in the load applied to the motor 6 canfirst be confirmed to be caused by a foreign material interfering withthe glass roof 4.

When the count value NS exceeds the determination value NK, the computer21 determines that a foreign material is interfering with the glass roof4 and finishes the interference determination process. The computer 21then waits again for the rising edge or falling edge of the nextdetection signal SP and continues performing the foreign materialinterference detection processing, which includes the rotating cyclecalculation processing, the external disturbance determinationprocessing, the rotating speed fluctuation calculation processing, andthe interference determination processing.

On the other hand, if the count value NS is equal to or less than thedetermination value NK (NS≦NK), it is determined that the time is tooshort to determine interference by a foreign material and thedetermination processing is terminated. The computer 21 then waits againfor the rising edge or falling edge of the next detection signal SP andcontinues to perform the foreign material interference detectionprocessing. In other words, if the load applied to the motor 6fluctuates temporarily due to vibrations or the like, the increase inthe load stops before the count value NS reaches the determination valueNK and the count value NS is reset. Accordingly, when the load appliedto the motor 6 fluctuates temporarily, the computer 21 does noterroneously determine that a foreign material is interfering with theglass roof 4.

When the computer 21 determines that a foreign material is interferingwith the glass roof 4, the computer 21 performs interference eliminationprocessing. When the glass roof 4 is being moved in the closingdirection, the glass roof 4 is immediately moved in the openingdirection by the interference elimination processing. In other words,the computer 21 excites the first relay coil 13 and de-excites thesecond relay coil 14 to cause the motor 6 to produce a forward rotatingaction. In this manner, the foreign material interfering with the glassroof 4 is released from the glass 4.

The features of the sunroof apparatus according to the present inventionwill be discussed below.

(1) The opening/closing speed of the glass roof 4 is represented by therotating speed of the motor 6 and detected by the rotating speeddetection sensor 23. Accordingly, the rotating speed, or theopening/closing speed is detected with a relatively simple structure incomparison to when directly detecting the opening/closing speed of theglass roof 4.

(2) During the low range differential calculation processing, thecomputer 21 selects the newest eighteen load determination rotatingcycles, divides the eighteen load determination rotating cycleschronologically into a plurality of groups (data rows), and obtains thelow range differential values TAF, TBF, TCF associated with each groupfrom the corresponding load determination rotating cycles. Further,during the interference bias determination processing, the low rangedifferential values TAF, TBF, TCF of each group A, B, C and therespective predetermined threshold values TM1, TM2, TM3 are compared toeach other, and the TAF, TCF of the respective groups A, C are comparedto each other to determine whether the rotating speed NS is fluctuatingdue to a load and whether there is a likelihood of interference.

If it is determined that there is a likelihood of interference duringthe rotating speed fluctuation calculation processing, the low rangedifferential value TF is obtained using the sum values TAS, TCS of theload determination rotating cycles in the respective groups A, C todetermine whether the rotating speed NS is decreasing based on thedifferential value TF. The low range differential value TF is comparedto the predetermined value TJ and, based on the comparison result, acalculation is performed to determine whether the rotating speed of themotor 6 has decreased and whether the load applied to the motor 6 issubstantially the same as a foreign material interference state. Duringthe interference determination processing, it is determined that theload applied to the motor 6 is the same as that applied during a foreignmaterial interference state, and when the count value NC of thedetermination counter reaches the predetermined value NK, it isdetermined that there is no external disturbance resulting fromvibrations or the like but that there is interference.

Accordingly, for example, interference is not determined when theopening/closing speed of the glass roof 4 decreases in a short timeperiod due to vibrations or the like. As a result, interference isdetermined with high accuracy.

(3) In the present embodiment, the glass roof 4 is moved in the openingdirection when it is determined that there is interference. In thismanner, the foreign material is immediately released from the glass roof4 without being damaged.

(4) In the present embodiment, the interference detection determinationis performed using the actual rotating cycles t1, T2 . . . , which areextracted from the detection signal SP. Accordingly, foreign materialinterference determination is performed with a simple calculationwithout requiring an expensive digital filter.

(5) In the present embodiment, it is determined that there is externaldisturbance when the conditions of TAF>TM1, TBF>TM2, TCF>TM3 are notsatisfied during the interference bias determination processing. Inother words, each of the low range differential values TAF, TBF, TCF,which are subject to determination, are obtained from the loaddetermination rotating cycles t1-t18, which are easily obtained from thedetection signal SP. Accordingly, the signal processing of the detectionsignal SP and the calculation processing, or the calculation processingfor determining external disturbance is simplified.

(6) In the present embodiment, it is determined that there is externaldisturbance when the condition of low range differential value TF(TAS−TCS)>0 is not satisfied during the rotating speed fluctuationprocessing. That is, the low range differential value TF is thedeviation of the sum values TAS, TCS obtained in the sum calculationprocess. The sum values TAS, TCS are derived from the load determinationrotating cycles t1-t18, which are easily obtained from the detectionsignal SP of the rotating speed detection sensor 23. Accordingly, thesignal processing of the detection signal and the calculationprocessing, or the calculation processing for determining externaldisturbance, are simplified.

The above embodiment may be modified as described below.

The present invention may be applied to a foreign material interferencedetection apparatus for a power window apparatus, a slide doorapparatus, or the like. Further, the present invention may be applied toa foreign material interference detection apparatus for an apparatushaving an opening/closing member that opens and closes through a motionother than sliding, such as a rotating motion.

During the interference bias determination, interference bias isdetermined using the conditions of TAF>TM1, TBF>TM2, TCF>TM3, andTAF>TCF. However, this may be determined through the condition of onlyTAF>TCF or through the conditions of only TAF>TM1, TBF>TM2, TCF>TM3.

TAF, TBF, TCF may each be compared to one another after adding acoefficient thereto.

The conditions of TAF>TM1, TBF>TM2, TCF>TM3 may be changed to, forexample, TAF>TM1, TBF>TM2 or TAF>TM1, TCF>TM3.

In the above embodiment, the three groups A, B, C are formed. However,two groups A, B or four or more groups may be formed instead.

In the above embodiment, the groups A, B, C are each formed from eightload determination rotating cycles but may be formed from two to sevenor from nine or more load determination rotating cycles.

What is claimed is:
 1. A foreign material interference detectionapparatus for opening/closing member, comprising: a drive source foropening and closing the opening/closing member; a speed detection meansfor detecting the closing speed of the opening/closing member andgenerating a speed detection signal (SP); a data row dividing processingmeans for obtaining data of the closing speed of the opening/closingmember from the detection signal (SP) and dividing the data into aplurality of groups; a speed fluctuation calculation means forcalculating fluctuations in the closing speed based on the data of atleast one of the divided groups; an external disturbance determinationmeans for comparing a calculation result of the speed fluctuationcalculation means with a predetermined value to determine and externaldisturbance; and an interference determination means for determiningwhether foreign material is interfering with the closing of theopening/closing member based on the speed fluctuation calculation resultand the determination result of the external disturbance determinationmeans.
 2. The foreign material interference detection apparatusaccording to claim 1, wherein the speed fluctuation calculation meansincludes a low range differential calculation processing means forobtaining a fluctuation value of the closing speed of the at least oneof the divided groups based on a load determination cycle of the atleast one of the divided group, and wherein the external disturbancemeans includes an interference bias determination processing means forcomparing the fluctuation value of each of the divided groups obtainedby the low range differential calculation processing means withrespective predetermined threshold values, and comparing at least two ofthe fluctuation values of the divided groups to determine whether theclosing speed is fluctuating due to a load and whether there is alikelihood of interference.
 3. The foreign material interferencedetection apparatus for an opening/closing member according to claim 1,wherein the speed fluctuation calculation means includes: a sumcalculation processing means for selecting at least two of the dividedgroups and adding the respective load determination cycles in each ofthe at least two selected groups to obtain sum values; and a rotatingspeed fluctuation processing means for obtaining a deviation value (TF)of the sum values obtained by the sum calculation processing means,determining whether the closing speed (NS) is decreasing based on thedeviation value (TF), comparing the deviation value (TF) with apredetermined reference value (TJ), and determining whether the loadbeing applied is the same as that when a foreign material is interferingwith the opening/closing member based on the comparison result.
 4. Aforeign material interference detection apparatus for opening/closingmember, comprising: a drive motor for opening and closing theopening/closing member; a speed detecting means for detecting a rotatingspeed (NS) of the drive motor and generating a detection signal (SP); arotating cycle calculation processing means for calculating loaddetermination rotating cycles from the detection signal (SP); acalculation processing means for determining whether the rotating speed(NS) is fluctuating due to a load that is the same as that produced byforeign material interference based on fluctuations in the loaddetermination rotating cycles obtained by the rotating cycle calculationprocessing means and counting the consecutive number of times in whichthe rotating speed is determined to be fluctuating due to a load that isthe same as that produced by foreign material interference; and aninterference determination processing means for determining foreignmaterial interference if the calculation processing means determinesthat the load is the same as that produced when foreign material isinterfering with the opening/closing member and the determination ismade consecutively a predetermined number of times.
 5. The foreignmaterial interference detection apparatus according to claim 4, whereinthe calculation processing means includes: a low range differentialcalculation processing means for selecting a predetermined number of theload determination rotating cycles calculated by the rotating cyclecalculation processing means, dividing the selected number of the loaddetermination rotating cycles chronologically into a plurality ofgroups, and obtaining a rotating speed fluctuation value of each groupfrom the load determination rotating cycle of each group; a sumcalculation processing means for selecting at least two groups from thegroups (A, B, C) and adding the load determination rotating cycles ineach of the at least two selected groups to obtain sum values (TAS,TCS); an interference bias determination processing means for comparingthe fluctuation values of each group obtained by the low rangedifferential calculation processing means with a predetermined thresholdvalue (TM1, TM2, TM3), respectively, and comparing at least two of thefluctuation values (TAF, TBF, TCF) of the groups to determine whetherthe rotating speed is fluctuating due to a load and whether there is alikelihood of foreign material interference; a rotating speedfluctuation calculation processing means for obtaining a deviation value(TF) of the sum values (TAS, TCS) when the interference biasdetermination processing means determines that there is a likelihood offoreign material interference, determining whether the rotating speed(NS) is decreasing based on the deviation value (TF), comparing thedeviation value (TF) with a predetermined reference value (TJ), anddetermining whether the load being applied is the same as that when aforeign material is interfering with the opening/closing member based onthe comparison result; and a determination counter for adding a countvalue (NC) when the rotating speed fluctuation calculation processingmeans determines that the closing speed (NS) is decreasing, andresetting the count value (NC) to a predetermined value when therotating speed fluctuation calculation processing means determines thatthe rotating speed (NS) is not decreasing; and wherein the interferencedetermination processing means determines there is foreign materialinterference when the rotating speed fluctuation calculation processingmeans determines that the load is the same as that when there is foreignmaterial interference and the count value (NC) of determination counterreaches a predetermined judgment value (NK).
 6. The foreign materialinterference detection apparatus for an opening/closing member accordingto claim 4, further comprising: an interference elimination processingmeans for driving the drive motor in reverse when the interferencedetermination processing means determines that there is foreign materialinterference.
 7. The foreign material interference detection apparatusfor an opening/closing member according to claim 5, further comprising:an interference elimination processing means for driving the drive motorin reverse when the interference determination processing meansdetermines that there is foreign material interference.
 8. A foreignmaterial interference detection apparatus for an opening/closing member,comprising: a drive source for opening and closing the opening/closingmember; a speed detection unit for detecting the closing speed of theopening/closing member and generating a pulse detection signal; and aprocessing unit coupled to the speed detection unit for determiningwhether foreign material is interfering with the closing of theopening/closing member using the pulse detection signal, wherein theprocessing unit performs: obtaining data of the closing speed of theopening/closing member from the detection signal and dividing the datainto a plurality of data row groups, each group comprising plural piecesof data of rising and falling edge cycles of the pulse detection signal,calculating fluctuations in the closing speed based on the data of atleast one of the divided data row groups, comparing a calculation resultwith a predetermined value to determine an external disturbance, anddetermining whether foreign material is interfering with the closing ofthe opening/closing member based on the speed fluctuation calculationresult and the determination result of the external disturbance.
 9. Aforeign material interference detection apparatus for an opening/closingmember, comprising: a drive motor for opening and closing theopening/closing member; a speed detecting unit for detecting a rotatingspeed of the drive motor and generating a detection signal; and aprocessing unit coupled to the speed detecting unit for determiningwhether foreign material is interfering with the closing of theopening/closing member using the speed detection signal, wherein theprocessing unit performs: calculating load determination rotating cyclesfrom the detection signal, determining whether the rotating speed isfluctuating due to a load that is the same as that produced by foreignmaterial interference based on fluctuations in the load determinationrotating cycles and counting the consecutive number of times in whichthe rotating speed is determined to be fluctuating due to a load that isthe same as that produced by foreign material interference, anddetermining foreign material interference if the calculation processingmeans determines that the load is the same as that produced when foreignmaterial is interfering with the opening/closing member and thedetermination is made consecutively a predetermined number of times.